CN105684032A - System and method for coordinated motion among heterogeneous devices - Google Patents

System and method for coordinated motion among heterogeneous devices Download PDF

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Publication number
CN105684032A
CN105684032A CN201480057114.8A CN201480057114A CN105684032A CN 105684032 A CN105684032 A CN 105684032A CN 201480057114 A CN201480057114 A CN 201480057114A CN 105684032 A CN105684032 A CN 105684032A
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token
armarium
motion
data
service
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CN105684032B (en
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M·阿兹安
J·索尔热
S·P·迪马奥
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61F2/50—Prostheses not implantable in the body
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/14—Handling requests for interconnection or transfer
    • G06F13/36—Handling requests for interconnection or transfer for access to common bus or bus system
    • G06F13/368—Handling requests for interconnection or transfer for access to common bus or bus system with decentralised access control
    • G06F13/37—Handling requests for interconnection or transfer for access to common bus or bus system with decentralised access control using a physical-position-dependent priority, e.g. daisy chain, round robin or token passing
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/104—Peer-to-peer [P2P] networks
    • H04L67/1044—Group management mechanisms 
    • H04L67/1046—Joining mechanisms

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Abstract

A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

Description

System and method for the coordination exercise between heterogeneous device
Technical field
The disclosure relates generally to the interoperability between heterogeneous device and the coordination exercise relating more specifically between heterogeneous device.
Background technology
Increasing equipment half autonomous electronics of just certainly being advocated peace is replaced. This is especially such in the modern hospital with half autonomous electronics of certainly advocating peace of big array, and described half autonomous electronics of certainly advocating peace, in operating room, intervention set room, intensive care unit(ICU), finds in emergency room etc. Such as, glass and mercurial thermometer are just replaced by electronic thermometer, and intravenous drip normal includes electronic monitor and flow regulator now, and traditional portable operating theater instruments is just being replaced by computer aided medicine equipment.
Their personnel of operation are provided advantage and challenge by these electronic equipments. These electronic equipments each can provide a large amount of about the state of an illness, the accurate and accurate data of state of electronic equipment etc. But, because these different electronic equipments each use different data monitorings and/or operation and perform different tasks, so they form the heterogeneous collections of armarium. Although and there is programmable processor and microprocessor in these heterogeneous device many, the ability Chang Yuanwei of these heterogeneous medical collaborative share data and information the operation of coordinating each of which is fully utilized.
In many cases, between heterogeneous device, the exchange of data and information is very little. One reason is that the many heterogeneous medical equipment in operating room or intervention set room are provided by different suppliers. Other reason includes the equipment of various model and even each armarium is designed to the difference between the different task performed. As a result, heterogeneous medical equipment is filled in many operating rooms and intervention set room, and it does not know about each other and does not exchange data and information between their own, says nothing of and represents any one important interoperability. On the contrary, healthcare givers is often expected to monitor and operate each equipment independently or equipment must use by this way so that they do not disturb each other. Such as, computer assisted surgery equipment only can be permitted in the region of operating room, and wherein it is not disturbed the imaging system also appearing in operating room or collides with imaging system. This constraint can limit the functional of computer assisted surgery equipment and imaging system.
The method supporting the exchange of the data between heterogeneous device and information and the interoperability of other form relates to the joint development work between the design team of supplier or single supplier. These work can include the exploitation of custom hardware or software to permit two different heterogeneous device exchange data and information interactive operation. The development of these types is often consuming time and expensive, and often requires range test and maintenance. They only further provide for the limited solution of bigger interoperability issue, because they only solve the problem between two specific heterogeneous device. Development can not be expanded to miscellaneous equipment, even at same production line, and will be likely to not expand to other type of equipment with from the equipment of other supplier. These developments can be further introduced into the complication (such as business secret) that the exchange correlation with intellectual property joins, and is difficult to the owner of final products.
Therefore it provides the method and system of the improvement for supporting the interoperability between heterogeneous device is desirable. The method and system providing support for the improvement of the coordination exercise in heterogeneous device is also desirable.
Summary of the invention
Consistent with some embodiments, a kind of armarium includes one or more displaceable element and one or more processor. Any one of one or more processors uses shares interface accessing service. Armarium is configured to the mobile token sharing interface requests from token service, mobile token is received from token service, the exercise data of configuration data, kinematic data or planning is exchanged by shared interface, exercise data based on mobile token and configuration data, kinematic data or planning plans that first of the first displaceable element for displaceable element moves, and performs the first motion.
Consistent with some embodiments, a kind of method of coordination exercise includes accessing shared interface, by the shared interface requests mobile token from token service, mobile token is received from token service, the exercise data of configuration data, kinematic data or planning is exchanged by shared interface, move for the first of displaceable element based on mobile token and configuration data, kinematic data or motion planning data schema, and perform the first motion.
Consistent with some embodiments, a kind of coordination exercise system includes server, the first heterogeneous device and the second heterogeneous device, wherein said server includes sharing interface for accessing one or more services including token service, described first heterogeneous device is coupled to shared interface and includes the first displaceable element, and described second heterogeneous device is coupled to shared interface and includes the second displaceable element. First heterogeneous device is configured to share interface requests and moves token from the first of token service, receive first from token service and move token, the exercise data receiving the configuration data of the second displaceable element, kinematic data or planning is serviced from the publisher of shared interface, token and configuration data, position data is moved based on first, or the exercise data of planning plans the motion of the first displaceable element, and perform the first motion. Second heterogeneous device is configured to share interface requests and moves token from the second of token service, receive second from token service and move token, use blackboard service transmit for the configuration data of the second displaceable element, kinematic data or planning exercise data to shared interface, and discharge the second of reception and move token.
Accompanying drawing explanation
Fig. 1 is the simplification figure of the interoperability system according to some embodiments.
Fig. 2 is the simplification figure of another interoperability system according to some embodiments.
Fig. 3 is the simplification figure of the method according to the coordination exercise in some embodiments execution movable equipment.
Fig. 4 is the simplification figure of the coordination exercise system according to some embodiments.
In the drawings, the element with same names has same or similar function.
Detailed description of the invention
In the following description, the detail describing some embodiments consistent with the disclosure is set forth. It will be apparent, however, to one skilled in the art that some embodiments can be put into practice when not having these details some or all of. Specific embodiment disclosed herein means illustrative and not restrictive. What skilled person realizes that is, although here without specific descriptions, but other element is within the scope and spirit of this. Additionally, in order to avoid unnecessary repetition, illustrate explicitly with an embodiment and one or more features of describing can include in other embodiments, if described unless otherwise specifically or these one or more features will make embodiment non-functional.
Fig. 1 is the simplification figure of the interoperability system 100 according to some embodiments. As it is shown in figure 1, interoperability system 100 includes the server 110 of the interoperability point for serving as interoperability system 100. Server 110 can be work station or any other type of computing equipment, and including one or more PC cluster equipment, and therefore it can be that stand-alone assembly maybe can be embedded in one or more armarium. Although Fig. 1 is not shown, but server 110 can include one or more processor and memorizer. Memorizer can include the machine readable media of one or more types. The machine readable media of some common forms can include floppy disk, flexible disk (-sc), hard disk, tape, any other magnetic medium, CD-ROM, any other optical medium, card punch, paper tape, be adapted to other medium any of therefrom reading with any other physical medium of pass pattern, RAM, PROM, EPROM, FLASH-EPROM, any other memory chip or internal memory casket and/or processor or computer.
Server 110 includes sharing interface 120, and this shared interface 120 is designed to support and the communication between the heterogeneous medical equipment of shared interface 120 and interoperability are coupled in standardization. Heterogeneous device can include the one or more equipment performing different task and/or can being provided by different suppliers. In some instances, heterogeneous device can include two or more equipment of same type, model and version. Sharing interface 120 provides each heterogeneous device the operable hardware and software interface known. Share interface 120 and can receive request from heterogeneous device further. In some instances, this request can be generated by heterogeneous device and use such as application programming interface (API) to call, remote procedure call, web services call, message transmit and/or mechanism like this is received by sharing interface 120. Share interface 120 and data and/or out of Memory can also be sent back heterogeneous device to support interoperability further. In some instances, sharing interface 120 can use the software stack of layering and/or the hardware and software stack of combination to implement.
In order to support the interoperability between heterogeneous device, server 110 may further include the support to the set flexibly for service module or service. In some instances, service can include one or more in following services: registration service 131, blackboard service 132, publisher service 133, data processing service 134, record service 135, circular service 136, token service 137, anti-replay service 138, cryptographic services 139, compression service 140, provider service 141, emergent stopping service 142 and/or like this. Although Fig. 1 only illustrates that service 131 is to service 142, but service 131 is merely illustrative and not restrictive to this list of service 142. Service 131 can be added to any one or more other services that can be omitted and/or not describe serviced in 142. Each service can be added extra functional to support interoperability, and service can mix according to the type of interoperability required between heterogeneous device and level and mate. In some instances, server 110 can also provide the unshowned extra service of Fig. 1. In some instances, service can be passed through to use the one or more plug-in units supported by shared interface 120 to be added and/or remove from server 110.
Registration service 131 includes being provided registration and/or certification user by server 110 and/or using such as service 132 to the support of heterogeneous device of other service of service 142. In some instances, registration service 131 can use username and password to provide login mechanism, thus the access of server 110 being limited to only authentic user and/or heterogeneous device. In some instances, after successful registration, the user of certification and/or heterogeneous device can be provided with one or more key and/or Session ID. These one or more key and/or Session ID may be used for other service 132 to 142 identifying user and/or heterogeneous device and being provided by server 110. These one or more key and/or Session ID can be also used for data and the out of Memory of encryption and/or deciphering exchange between user and/or heterogeneous device and server 110 and/or be stored in the data in server 110.
In some instances, registration service 131 can maintain one or more access thed use by shared interface 120 and/or service 132 to service 142 further and control lists, with restriction to service 132 to the access servicing 142. In some instances, it then follows the registration process of registration service 131 may further include the type identifying the heterogeneous device being connected to server 110. Heterogeneous device type can include such as following information: the supplier of heterogeneous device and model, firmware version number, the classification of heterogeneous device and/or like this. Classification can include such as computer aided medicine equipment, imaging device, cardiac monitor and/or classification like this. In some instances, registration service 131 can provide registration in application layer (applicationlevel) rather than mechanical floor so that can be had the different brackets accessing server 110 and service 132 to service 142 by the different application of identical heterogeneous device support. In some instances, registration service 131 can more its functional necessary one or more data structures of new management.
The memory area that blackboard service 132 offer can be shared between heterogeneous device. The each heterogeneous device registered by server 110 and shared interface 120 can use blackboard service 132 to record data and information, and these data and information can be shared with other heterogeneous device subsequently. Such as, computer assisted surgery equipment and/or imaging system can provide the information being associated with the exclusion area (no-flyzone) representing region and/or the volume disapproving entrance, assembly location and/or mobile route planning to service 132 to blackboard so that other movable equipment can correspondingly be coordinated it and move.
In certain embodiments, blackboard service 132 can use key-value pair (key-valuepair) method to store data in shared memory area. When heterogeneous device services 132 offer data to blackboard, it is possible to data are associated with the unique key that may be used for retrieving after a while these data. This key can be provided by the heterogeneous device providing data, or it can be serviced 132 generations by blackboard. In some instances, between blackboard service 132 and heterogeneous device, the data of exchange can use one or more agreements to exchange, and these one or more agreements include: HTML (Hypertext Markup Language) (HTTP), UDP (UDP), extensible markup language (XML), health level 7 (HL7), medical digital image and communicate (DICOM), controller local area network (CAN), fieldbus (IEC61158), Process FieldbusROFIBUS (Profibus) and/or agreement like this. In some instances, for safety purposes, blackboard service 132 can encrypt and/or compress the one or more data item in shared memorizer further. In some instances, blackboard service 132 can rely on cryptographic services 139 and/or compression service 140 to perform encryption/deciphering and/or compression/decompression. In some instances, blackboard service 132 can use and one or more be accessed the subset controlling lists by the access of some data in shared memorizer is limited to application and/or other heterogeneous device by what registration service 131 was safeguarded. In some instances, blackboard equipment 132 can also provide the support to the data being locked in shared memorizer, and this can make the part data in the temporarily unavailable shared memorizer of other heterogeneous device.
Publisher services 133 and carries for use in the distribution-subscribing mechanism of active sharing data and information between heterogeneous device. Using publisher to service 133, heterogeneous device can subscribe to the notice and/or readjustment that are associated with other data being issued to publisher's server 133 by other heterogeneous device and information. Such as, whenever be more newly stored in blackboard service 132 shared memorizer in data time (when such as making new image can use when imaging device), heterogeneous device can ask notified or receive adjust back. In some instances, publisher service 133 before giving notice can update data on supports conditions inspection. In some instances, condition inspection can include based on one or more Boolean tests of range check, lock-out state and/or other test based on the value of data or state. Servicing such as blackboard in the of 132, publisher services 133 and can support encryption, compression extraly and/or access control list, or it can rely on other service of such as cryptographic services 139 and/or compression service 140 to provide this function.
Data processing service 134 is fed to script and the post processing of the data of shared interface 120. In some instances, data processing service 134 can perform data fusion, polymerization, and/or uses the data of blackboard service 132 storage and the statistical analysis of information. Data fusion and statistical analysis are passable, it may for example comprise calculate sliding average and/or the weighted mean of the numerical value using blackboard service 132 storage and/or estimate noise parameter. In some instances, data processing service 134 can support script, this script allows the simple and/or complicated script that other heterogeneous device supply will perform in the data of storage, and wherein the data of this storage can service notice and the readjustment use of 133 extraly in conjunction with publisher. In some instances, data processing service 134 can be received from definition process script from heterogeneous device, and data processing service 134 can use this self-defined process script in storage or parameterized data.
In certain embodiments, data processing service 134 can by central authorities assemble data reduce the bandwidth requirement between server 110 and heterogeneous device so that the data only assembled are distributed between heterogeneous device. In certain embodiments, data processing service 134 can make being gathered into of the data from many different heterogeneous device streamlined extraly.
Record service 135 offer records the ability of data and/or the event provided by heterogeneous device. Using one or more daily record, record record 135 can be configured to together with timestamp to record data and event. Such as, daily record can be configured to record the renewal that the concrete data item using blackboard service 132 to store is carried out and/or record the renewal undertaken by concrete heterogeneous device. In certain embodiments, record service 135 can also be supported for configuring record service 135, accessing the daily record recorded and/or manage the user interface (not shown) of the daily record recorded. In some instances, user interface can service 135 from stand-alone computer or work station remote access record. In certain embodiments, record service 135 can also reflect that data update and actual time of event by the timestamp that is described to guarantee to cross over one or more daily record of time synchronized between back-level server 110 and heterogeneous device all the time. In some instances, record service 135 can exchange one or more synchronization message to simulate the effect being associated with time delay and/or clock drift more accurately with heterogeneous device, and process and/or communication delay between wherein said time delay with server 110 and heterogeneous device are associated. In some instances, record service 135 can use compression, the compression such as provided by compression service 141, to reduce the size of the daily record recorded.
In certain embodiments, daily record can be documented in memorizer and/or certain type of permanence storage equipment by record service 135. In some instances, daily record can use disc driver or be arranged in the similar storage medium of server 110 and record. In some instances, daily record can use disc driver or be arranged in the storage medium of stand-alone workstation (not shown) and record.
In certain embodiments, record service 135 can also make one or more daily record off-line to use. In some instances, one or more daily records can be used to evaluate, test and/or debug each heterogeneous device and/or coordinate between heterogeneous device. In some instances, one or more daily records can by data mining and/or stand to analyze efficiency to evaluate such as heterogeneous device. In some instances, one or more daily records can be used on the information one or more models of synthesis and/or atlas, the representational and/or test trails of such as movable equipment of record. In some instances, one or more daily records may be used for anti-replay service 138.
Circular service 136 offer sends synchronization and/or the asynchronous notifications ability to heterogeneous device. Being different from publisher and service 133, circular service 136 is not necessarily limited to together with data renewal to use. In certain embodiments, circular service 136 may be used for sharing the notice being associated with other event between interruption, exception, emergency stop event and/or heterogeneous device. Such as, oxygen sensor can use circular service 136 to notify that other heterogeneous device (such as cautery tool) detects the dangerous grade of oxygen. In certain embodiments, circular server 136 may be used for sharing synchronization notice, those and/or the heartbeat message being such as associated with the timing system of the time synchronized message of release cycle.
Token service 137 provides the system coordinating token for sharing between heterogeneous device. Using token service 137, heterogeneous device can ask and discharge coordination token. As required, when heterogeneous device can not obtain required coordination token, they can be prevented from further action. Coordinate token and can include mutual exclusion (MUTEX) token, multiplex token and/or the special token according to heterogeneous device needs. In some instances, MUTEX token may be used for avoiding the race between two heterogeneous device and/or deadlock state, such as, it is likely to produce race and/or deadlock state when two movable equipments are just using collision avoidance strategy and should move only one movable equipment every time. In some instances, multiplex token can be distributed to the heterogeneous device of limited quantity, only the heterogeneous device of this quantity that this shared resource can be supported can be used so that sharing resource. In certain embodiments, special token may be used for the concrete activity between coordination heterogeneous device.
Under the background coordinating movement, special token can include special motion token, token of following me, collide and avoid token and/or similar token. Only just can use special motion token when the single movable equipment of allowance moves. In some instances, movable equipment can be able to any equipment that autonomous and/or half autonomous is coupled to one or more elements of this equipment. In some instances, movable equipment can include its equipment that partly or entirely can be moved. The movable equipment only holding special motion token can be allowed to mobile. In some instances, the movable equipment holding special motion token can use the location data from miscellaneous equipment utilizing blackboard service 132 to store to plan collisionless motion path. When in two or more movable equipments just performing another movable equipment or multiple equipment should be followed mobile time can use token of following me. In some instances, movable equipment or the multiple equipment of holding token of following me can use the trajectory path planning utilizing blackboard service 132 to store and/or other location data to plan compatible track. When main movable equipment needs execution movement and other secondary movable equipment one or more collision can be used to avoid token when should remove road when main movable equipment moves. In some instances, the special main token that token of following me avoids token can include many sub-tokens, be held by main movable equipment with collision, and other shared with subordinate token held by secondary movable equipment. In some instances, secondary movable equipment or multiple equipment can use the path planning from main movable equipment utilizing blackboard service 132 to store and/or other location data to plan compatibility and/or collision-free trajectory. In certain embodiments, token service 137 can be used for distributing concrete mobile token to another movable equipment by a movable equipment. In some instances, if desired, the distribution moving token can be held the movable equipment of main token for one or more subordinate tokens are distributed to other movable equipments one or more accordingly. In some instances, plan that can distribute passive collision on other movable equipments one or more with the movable equipment performing motion avoids token. This passive collision avoids token or multiple token may be used for constraint and/or forbid the motion of other movable equipments or multiple equipment and report the position that they are current with asking other movable equipments or multiple device periodically. In some instances, the movable equipment of the mobile token of request distribution the confirmation to be allocated such as can perform before any motion. In some instances, token service 137 can also use circular service 136 to coordinate issue and/or the distribution of each seed token.
Anti-replay service 138 provides the system for replaying from the data stream of one or more daily records and/or event. In certain embodiments, for training and/or evaluation purpose, anti-replay service 138 may be used for looking back and/or rebuilding the operation in simulated environment or other program. In certain embodiments, anti-replay service 138 can be used in systems by the emulation of one or more heterogeneous device is playback apparatus. In some instances, for purposes such as routine plans, computer assisted surgery equipment can use in the environment with analog imaging equipment. Film sequence from the record of imaging device can be used the timestamp of the record for sorting to replay while computer assisted surgery equipment is by execute-in-place by anti-replay service 138. In some instances, playback imaging device can for planning that optimum trajectory that Mobile medical imaging device can take is to gather the required image of patient, avoids and the collision of computer assisted surgery equipment simultaneously together with the replay track data of computer assisted surgery equipment. In some instances, when not having the risk of actual collision between movable equipment and/or do not jeopardize actual patient, anti-replay service 138 can be followed me or collision avoidance algorithms for test and/or evaluation together with previously recorded track data. In certain embodiments, anti-replay service 138 can also based on carrying out the model of self-recording data and/or from the simulation replay generated data of supplier. In certain embodiments, anti-replay service 138 can in conjunction with the use that is mixed of heterogeneous device that is on-the-spot, that record, simulation and/or that synthesize.
Cryptographic services 139 provides the system being used for making encryption and decrypting process and/or algorithm from other service decoupling being coupled to shared interface 120. By making encryption and deciphering from other service decoupling, the user sharing interface 120 can install and/or operate different encryptions and decrypting process and algorithm, without by this functional be embedded in other service. Cryptographic services 139 can provide any kind of encryption and deciphering, such as symmetric key encryption, Public Key encryption, private key encryption and/or like this. Cryptographic services 139 can further provide for data integrity service, such as checks summation, CRC coding, MD5 and/or other this service.
Compression service 140 provides for making compression and decompression procedure and/or the algorithm system of decoupling from other service. By making compression and decompression from other service decoupling, the user sharing interface 120 can install and/or operate different compressions and decompression procedure and algorithm without by other service of this functional embedding. Compression service 140 can provide any kind of compression and decompression, including such as Lempel-Ziv-Welch (LZW) compression and/or lossless compression like this and decompression, and/or such as JPEG, MPEG and/or lossy compression method like this.
Provider service 141 provides the system for allowing heterogeneous device to make extra service available between them. In certain embodiments, provider service 141 can provide the registration of the existence (existence) for sharing the available service in heterogeneous device. In some instances, the registration of the available service that provider service 141 can include comprising interface specification and catalogue are so that other heterogeneous device can use available service. In some instances, interface specification can include with for issuing and those of shared network service limit similar restriction. In some instances, provider service 141 can provide location and/or forward service, and it can want the heterogeneous device using the heterogeneous device of available service to be coupled to this service of trustship.
The support of other the steady failed operation between emergent stopping service 142 offer support to safety shutdown and/or the heterogeneous device to use server 110 and/or shared interface 120. In some instances, emergent stopping service 142 and can circulate a notice of service 136 cooperative works with the activity monitoring between other service and/or heterogeneous device or provides emergent stopping and/or other malfunction notification to other service and/or heterogeneous device. Such as, emergent stopping service 142 may be used for transmission and stops mobile circulating a notice of to each heterogeneous device that can move. Although Fig. 1 is not shown, but in some instances, emergent stopping service 142 is alternatively coupled to one or more on/off two-position switch (dead-manswitch), watchdog timer, supervisory relay and/or other emergent stopping and the equipment of supervision. In some instances, emergent stopping service 142 can be further coupled to the one or more shared safety circuit (not shown) with the special circuit to each heterogeneous device to share washout with each heterogeneous device. In some instances, the safety circuit shared can include main and standby secondary circuit.
Server 110 farther includes the multiple hardware ports 150 for server 110 is coupled to heterogeneous device. In some instances, one or more hardware ports 150 can provide the support to standardization hardware interface, this standardization hardware interface such as USB (universal serial bus) (USB), live wire (IEEE1394), RS232, RS485, CAN, fieldbus, Process FieldbusROFIBUS, interior integrated circuit (I2C) and/or like this. In some instances, one or more hardware ports 150 can provide the wide area network (WAN) supported for server 110 is coupled to the LAN (LAN) of such as Ethernet and/or such as the Internet. In some instances, one or more hardware ports 150 can by self-definition design and/or the interface card of vendor-specific provide, this interface card can use slot to be installed in server 110, wherein this slot supports such as peripheral device interconnection high-speed (PeripheralComponentInterconnectExpress, PCIe), expansion card and/or standard like this.
As it is shown in figure 1, interoperability system 100 farther includes in the hardware port 150 of server 110 being coupled to such as the link 155 of exemplary heterogeneous equipment described by node 160 at port 165 place. In certain embodiments, the data using link 155 transmission can be encrypted. The same with server 110, node 160 can include one or more processor and memorizer. Additionally, port 165 can be similar to any one in port 150. In certain embodiments, node 160 can be any in many types of heterogeneous device, stand including imaging device, PACS (PACS), computer assisted surgery or invasive devices, focus intervening equipment, localization equipment, location equipment, follow the tracks of equipment, monitor equipment, operating-table, intelligent floor or support navigation, display and/or the body of wall of other technology, video camera, range sensor, environmental sensor, tracking equipment and/or like this. Focus intervening equipment can include any diagnostic device and/or therapeutic equipment, including biopsy device, organizes sample devices and/or like this. Imaging device can be ultrasonic equipment, x-ray device, CT equipment, MRI machine, γ (gamma) probe and/or like this. Supervision equipment can include cardiac monitor, respiromonitor and/or like this. Range sensor can include SONAR equipment, LIDAR device and/or like this. Environmental sensor can include heat sensor, pressure transducer, humidity sensor, oxygen sensor and/or like this. In some instances, tracking equipment can include view-based access control model, electromagnetism, RFID, ultrasonics, hinged mechanical system and/or one or more tracking techniques like this.
The same with server 110, node 160 includes sharing interface 170. Such as, sharing interface 170 can use allowance node 160 to utilize the shared interface 120 of server 110 and the API of service 131 to 142 and/or SDK (SDK). In some instances, sharing interface 170 can be the local version sharing interface 120.
Node 160 farther includes the one or more application programs 172 using shared interface 170 to access shared interface 120 and service 131 to 142. Application program 172 permits node 160 becomes the person of being actively engaged in interoperability system 100. One or more application programs 172 can such as use registration service 131 to register to server 110, use blackboard service 132 and other heterogeneous device and node switching data and information, use record service 135 realization to record and/or like this. In other example, when node 160 is movable equipment, application program 172 can include using the motion planning of the special token from token service 137 and the data from blackboard service 132 and performing algorithm, thus motion and other movable equipments one or more being coordinated.
Node 160 may further include and also uses one or more services 174 sharing interface 170. In certain embodiments, service 174 can include with information, the data from node 160 are asynchronously or synchronously shared to blackboard service 132 so that the service shared together with other heterogeneous device and/or node. In some instances, service 174 can include by imaging device obtain new image be sent to blackboard service 132 in case share service. In some instances, 174 services that can include synchronously updating the position coordinates of movable equipment are serviced.
In certain embodiments, service 174 can include sharing service, and node 160 can use such as provider service 141 to make this share service and other heterogeneous device in interoperability system 100 and/or node can be used. In some instances, shared service can include the extra service that is any and/or that provided in service 131 to 142 by node 160. In some instances, the shared service of node 160 can include accessing parameterized treatment script, and this parameterized treatment script is sent for sharing to these data of pre-treatment of blackboard service 132 in data. For example, the parameterized treatment script in imaging device can accept the parameter for proprietary image-processing algorithms, and described proprietary image-processing algorithms can be applied to image before being shared. Use this parameterized treatment script, other heterogeneous device and/or node can ask the self-defined version of image.
Node 160 can also include the support to user interface 176. User interface 176 may be used for management and/or controls application program 172 and/or service 174. In some instances, which service 174 is user interface 176 may be used for controlling other heterogeneous device in system 100 and/or node can be used. In some instances, user interface 176 may be used for control data be sent to blackboard service 132 speed. In some instances, which data is user interface 176 may be used for controlling and/or event will by record service 135 records. In certain embodiments, user interface 176 can be graphic user interface. In certain embodiments, user interface 176 can use the control panel of the such as touch screen on node 160 and/or monitor panel to access. In certain embodiments, user interface 176 can use by network be coupled to the terminal of node 160, work station, surgical console and/or like this come remote access.
As is further illustrated in figure 1, interoperability system 100 may further include any amount of node and/or heterogeneous device. Two this extra nodes are illustrated as node 181 and 189, and it represents a series of nodes from node 181 to node 189. The same with node 160, node 181 includes shared interface and application program, service and/or the user interface of a version. Node 181 uses link 191 to be coupled to server 110. Similarly, node 189 includes shared interface and application program, service and/or the user interface of a version, and uses link 199 to be coupled to server 110. Each representing heterogeneous device and may differ from any one of other node 160 and node 181 to 189 in node 181 to 189, or this heterogeneous device can be and any one identical model described so that node 160 can include what two or more identical armarium was possible to 181 to 189.
Fig. 2 is the simplification figure of another interoperability system 200 according to some embodiments. As in figure 2 it is shown, interoperability system 200 includes some heterogeneous medical equipment or node 210 to 230. Although at three nodes described in interoperability system 200, but interoperability system 200 can include any amount of node. Node 210 to 230 is similar with node 160 and 181 to 189. Each in node 210 to 230 can include the shared interface of a version as above, application program, service and/or user interface.
Each use network 240 in node 210 to 230 is coupled to server 250 and 260. Network 240 can be any kind of network, including LAN and/or WAN. Server 250 can and each shared interface 120 that may each comprise a version similar with server 110 and/or service 131 to 142 with 260. Although at two servers described in interoperability system 200, but interoperability system 200 can include any amount of server, do not have server including when shared interface 120 cross-node 210 to 230 is distributed. When service 131 to 142 and service 172 can potentially in the trustship any combination on node 210 to 230 and server 250 and 260 time, the description of server 250 and 260 emphasizes to share interface 120 and 170 and the motility character of interoperability system 200. In certain embodiments, server 250 and 260 can be omitted and service 131 to 142 can by complete trustship in the combination in any of node 210 or node 210 to 230. In certain embodiments, any one in node 210 to 230 can be incorporated in the work station identical with any one in server 250 to 260 or cluster. In certain embodiments, server 260 can be the mirror image (mirror) of the server 250 providing backup and/or fault transfer to support to server 250. In certain embodiments, service 131 to 142 can replicate between server 250 and 260. In some instances, server 250 can include the record service 135 of a version for recording certain types of data, and server 260 can include the record service 135 of another version for recording other type of data. In certain embodiments, interoperability system can only include limited server or hub, this limited server or hub can only provide registration service 131 and provider service 141, and wherein provider service 141 is for by service request location the node 210 to 230 being directed to other service 132 to 140 and/or 142 of trustship.
Fig. 3 is the simplification figure of the method 300 according to the coordination exercise in some embodiments execution movable equipment. The one or more of the process 305 to 355 of method 300 can implement with the form of the executable code that is stored on non-transitory tangible machine computer-readable recording medium at least in part, what when executable code is run by one or more processors (such as, in node 160,181 to 189 and/or 210 to 230 or one or more processors in server 110,250 and/or 260), it can cause that one or more processor performs in process 305 to 355 is one or more. In certain embodiments, method 300 can pass through application program, an execution in such as application program 172.
At process 305 place, movable equipment is with sharing interface registration. In order to receive token for performing coordination exercise and data, movable equipment can be used and share interface (such as, sharing interface 120) self registration. Such as, movable equipment can propose registration request to registration service 131. In some instances, movable equipment can receive key and/or talks identifier, and it is used for identifying movable equipment and shared interface. In certain embodiments, movable equipment can additionally provide the information identifying device type and can further provide for the configuration of the motion about it, geometry and/or kinematics information. In some instances, this one or more geometry and/or the kinematics model that can include providing movable equipment with the form of service such as service 174, other heterogeneous device one or more, node and/or movable equipment can use described model to have found that it is likely that the current and/or possible following volume occupied by movable equipment.
At process 310 place, movable equipment is it appeared that other node one or more and/or movable equipment. Such as, movable equipment can use list and/or other data structure of shared interface accessing other nodes one or more interested and/or movable equipment. In some instances, blackboard service 310 can store mobile equipment and use and generally acknowledge and/or other nodes one or more of key request of standard and/or the list of movable equipment or data structure, movable equipment can use, for instance described list or described data structure. In some instances, based on the list of other nodes one or more and/or movable equipment, movable equipment can determine that a kind of type or polytype coordination exercise are feasible and/or desirable.
At process 315 place, the mobile token of movable equipment request. In the system with multiple movable equipments, movable equipment should hold or have mobile token before proceeding by arbitrary motion. This security step that can be important collides with other movable equipments one or more to stop and/or is avoided by patient and/or other personnel that movable equipment jeopardizes in room. In some instances, moving token can use token service 137 to ask. In some instances, mobile token can be special-purpose token, and such as special motion token, token of following me, collision avoid token and/or like this. In some instances, when movable equipment wants to start motion, it can request that special motion token, the main token and/or avoid token from main collision of following me. In some instances, when movable equipment wants to provide compliant motion and/or collision-free motion, movable equipment can ask subordinate token.
At process 320 place, movable equipment can receive mobile token. The removable token received can based on the mobile token of request during process 315. In some instances, move token to receive from token service 137. In some instances, movable equipment can wait until the mobile token of reception at process 320 place. In certain embodiments, when multiple movable equipments can never have the volume of intersection, movable equipment can receive the special motion token allowing movable equipment to carry out unrestricted motion. In certain embodiments, movable equipment can receive multiple mobile token multiple constraint being placed on movable equipment. Such as, movable equipment can receive subordinate and follow me token to follow another movable equipment, also receives subordinate collision simultaneously and avoids token to avoid colliding with other movable equipments one or more. In some instances, the motor behavior of mobile equipment is determined in the polymerization of the mobile token of one or more receptions. In some instances, due to the multiple pending request to collision token that other movable equipment carries out, movable equipment can not receive the mobile token of request for some time. In some instances, for colliding the mode of priority that multiple requests of token can use priority system to utilize first-come-first-served policy, limit in advance, self-defined mode of priority and/or like this solving.
At process 325 place, movable equipment can ask to distribute mobile token to other movable equipments one or more. In some instances, in order to provide more safety and/or definitiveness in moving process, movable equipment can ask the mobile token of one or more particular type to be assigned to other movable equipments one or more found during process 310. In some instances, when movable equipment receives main mobile token during process 320, movable equipment can be asked that one or more corresponding subordinates are moved token and is assigned to other movable equipment one or more. In some instances, movable equipment can be asked to distribute one or more passive collisions and be avoided token to the one or more miscellaneous equipments not holding subordinate and moving token, thus assisting in ensuring that movable equipment receives data positional information from other movable equipments one or more during process 335. By use procedure 325, movable equipment can take the more initiative control of the coordination exercise between other movable equipment one or more.
At process 330 place, movable equipment receives the confirmation of the distribution of mobile token. After the distribution of the mobile token of request, movable equipment can wait until that it receives one or more other and moves the confirmation acknowledging receipt of they corresponding mobile tokens before equipment performs any motion during process 340.
At process 335 place, movable equipment and one or more other movable equipment switch and/or path datas. In certain embodiments, being left out the mobile token that movable equipment is held, movable equipment can use blackboard service 132 periodically to send its position and/or the renewal of kinematic data. In some instances, these services updating can used in such as service 174 provide. This allows one or more miscellaneous equipments to monitor the motion of movable equipment. In some instances, movable equipment can share the data describing the volume that movable equipment currently occupies. In some instances, movable equipment can be shared and describe the data surrounding volume about the movable equipment including relief area. In some instances, any one of these volumes can describe the exclusion area being associated with movable equipment. In some instances, movable equipment can share mobile combined parameters, uses data processing service 134 and/or the addressable script of provider service 142 to may be used to described combined parameters and be converted to exclusion area. In some instances, movable equipment can share Future Path information, the motion such as planned, it allows other movable equipments one or more to follow me in accordance with corresponding one or more subordinates and/or token is avoided in subordinate collision. In some instances, hold subordinate when movable equipment and follow me, subordinate collision is avoided, passively collision avoid and/or during similar token, movable equipment can use blackboard service 132 to receive the exercise data of not entering on other movable equipment one or more, position and/or planning, and/or use publisher service 133 receptions do not enter, the renewal of position and/or path data. In some instances, movable equipment can issue one or more requests that other movable equipment one or more provides position and/or programming movement to update. In some instances, position and/or path data just can handled with movable equipment one or more energy beams and/or one or more energy field are associated. In certain embodiments, movable equipment can with other movable equipment exchange force data one or more. In some instances, force data can include and power, moment, pressure, and/or movable equipment and or other data that statically and/or dynamically feature is associated of other movable equipment one or more.
At process 340 place, movable equipment can perform motion. Based on the type of the mobile token held or multiple mobile token and do not enter about other movable equipments one or more known, position, and/or path data, movable equipment can plan and perform the motion for one or more displaceable elements (such as articulated jib). In some instances, when movable equipment hold subordinate follow me token time, movable equipment can be planned and perform and the motion compatible by holding path that another movable equipment of main token of following me shares. In some instances, when movable equipment hold subordinate collision avoid token time, movable equipment can plan and perform to be avoided by hold that main collision avoids that another movable equipment of token shares does not enter, the collisionless path of position and/or path data. In certain embodiments, the motion planning in movable equipment can use the service 174 serviced in such as data processing service 134 and/or other movable equipment to concentrate. In some instances, the motion planning service of concentration can make the exclusion area of combination to use, and the exclusion area of described combination includes by each one or more volumes occupied in other movable equipments one or more. In some instances, the motion of execution can be associated with one or more energy beams and/or one or more energy field.
At process 345 place, movable equipment can send alarm. Such as, although when movable equipment can not be observed subordinate token and/or not hold mobile token but must move, movable equipment can send alarm. In some instances, movable equipment can use circular service 136 to notify other movable equipment one or more it can not observe its held mobile token. In certain embodiments, movable equipment can based on during process 335 from the position that other movable equipment receives, path and/or other data be further sent out alarm. In some instances, alarm can may be made that to movable equipment the observation of the location about other movable equipment and/or motion is relevant.
At process 350 place, movable equipment can monitor circular. Such as, when holding exclusion movement token and/or main token when movable equipment, movable equipment can monitor that one other movable equipment of instruction may not circular that as was expected observes. In some instances, one or more circulars can be caused by the alarm sent during the respective process 345 of other movable equipment. In some instances, movable equipment can use circular service 136 supervision circular. In certain embodiments, data processing service 134 and/or self-defined Information Mobile Service can in conjunction with circular service 136 uses. In some instances, script may be used for generating one or more special circulars for movable equipment. In some instances, script can ask to issue circular when another movable equipment leaves and/or enter the volume of restriction. In some instances, the volume of restriction can be through spheroid that center and radius limit, the polyhedron volume that limited by convex hull and/or be likely to more complicated volume. In some instances, script can ask to issue circular when other movable equipment arbitrary performs arbitrary motion.
At process 355 place, movable equipment can discharge mobile token. When movable equipment is no longer desired execution movement, its releasable mobile token that it receives during process 320. In some instances, by discharging mobile token, movable equipment can trigger one or more circular, and it notifies that other movable equipment token one or more is released. So, hold one or more movable equipments of corresponding subordinate token and can be informed that they are no longer necessary to observe subordinate and follow me and/or token is avoided in subordinate collision. When discharging special motion token and/or main mobile token, ask these to move other movable equipments one or more of token during they corresponding processes 315 and can receive the mobile token of request during corresponding process 320. In some instances, movable equipment can based on the mobile token of request release received from user and/or another movable equipment.
Fig. 4 is the simplification figure of the coordination exercise system 400 according to some embodiments. As shown in Figure 4, coordination exercise system 400 can find in operating room and/or intervention set room. Coordination exercise system 400 includes patient trolley and/or operating-table 410. Operating-table 410 can be movable equipment. In some instances, operating-table 410 can perform movement with its arbitrary degree of freedom. In some instances, operating-table 410 can adjust height to adapt to perform height and/or the size of one or more miscellaneous equipments of the doctor of program and/or the height of nurse and/or the contiguous operating-table 410 of adaptation on patient. In some instances, operating-table can shifted laterally and/or adjust as required rolling, tilt and/or skew so that patient is placed in suitable posture thus supporting current procedure and/or program.
Coordination exercise system 400 also includes computer assisted surgery equipment 420. Computer assisted surgery equipment 420 can include one or more displaceable element or articulated jib 425 for buttressing operation apparatus, imaging device and/or like this. Computer assisted surgery equipment 420 is further coupled to surgeon console 430, and it can include one or more dominant control for operation computer assisted surgery equipment 420 and/or one or more articulated jib 425. In certain embodiments, computer assisted surgery equipment 420 and surgeon console 430 can meet Leonardo da Vinci's surgery systems of the intuition operation company trade in Sen Niweier city, California. In certain embodiments, with the computer assisted surgery equipment of other configuration, less and more articulated jib and/or like this can use together with coordination exercise system 400. In certain embodiments, computer assisted surgery equipment 420 can be installed to operating-table 410 rather than the support of independence as described in Figure 4.
Coordination exercise system 400 may further include imaging device 440. Imaging device 440 includes imaging subsystems 445, and it can be used for obtaining one or more diagnosis imagings of the patient being positioned on operating-table 410. Imaging device 440 and imaging subsystems 445 can include disposing imaging subsystems to obtain the one or more displaceable elements needed for required one or more diagnosis imagings around patient. Although the imaging device 440 in Fig. 4 is described the imaging subsystems 445 being characterized as C arm, but in coordination exercise system 400, other type of imaging device 440 is feasible. In certain embodiments, imaging subsystems 445 can include the looping pit in such as MR hole, with the articulated jib of probe, one or more articulated jib and/or like this. In certain embodiments, imaging device 440 can arrange operating-table 410 rather than the support of independence as described in Figure 4.
Coordination exercise system 400 may further include motion tracking system 450. Motion tracking system 450 can include one or more tracking equipment, the position of its one or more equipment that can follow the tracks of contiguous coordination exercise system 400 and/or one or more personnel. In some instances, tracking equipment can include view-based access control model, electromagnetism, RFID, supersonics, hinged mechanical system and/or one or more tracking techniques like this. In some instances, motion tracking system 450 can follow the tracks of those on operating-table 410, computer assisted surgery equipment 420, surgeon console 430 and/or imaging device 440 and other object one or more and/or one or more personnel on one or more registration point. Based on the tracking data collected by motion tracking system 450, motion tracking system 450 can monitor the position of one or more equipment, send one or more circular, such as urgent collision circular and/or permission coordination exercise system 400 use together with one or more equipment and/or one or more personnel, the one or more equipment and/or one or more personnel can not use coordination exercise feature, such as share interface and/or token, circular and/or other service. In some instances, motion tracking system 450 can create one or more virtual movable equipment for just tracked each object and/or people. As for other movable equipment, motion tracking system 450 can for each offer position of one or more virtual movable equipments and/or routing update.
Operating-table 410, computer assisted surgery equipment 420, surgeon console 430, imaging device 440, each heterogeneous device can be with motion tracking system 450, it include with at node 160,181 to 189, and/or those similar features found in 210 to 230. Each heterogeneous device is alternatively coupled to server 460. Such as, server 460 can be any one in server 110,250 and/or 260. Using shared interface in each heterogeneous device 120 and 170 and service 131 to 142 and/or 174 and/or application program 172, coordination exercise system 400 can implement the coordination exercise consistent with the process of method 300.
In certain embodiments, coordination exercise system 400 can include other unshowned isomery and/or movable equipment. In some instances, other isomery and/or movable equipment can include one or more PACS station, area of computer aided invasive devices, focus invasive devices, localization equipment, location equipment, supervision equipment, intelligent floor or wall, range sensor, environmental sensor and/or like this.
Some example of use of the process of present rendering method 300 are to show that how coordination exercise is with one or more shared interfaces and enforcement in the system of the service being associated.
Example 1 follow me token use: operation or other program process in, complete operation or program before make the articulated jib 425 of computer assisted surgery equipment 420 separate usually worthless with patient. Owing to infecting and/or repeating to be docked to one or more cutting part, this probability helping to reduce complication. During some operations or program, changing the position of operating-table 410, orientation and/or height, articulated jib 425 is docked to patient simultaneously is desirable. In order to support this point, method 300 can be used for use procedure 315 by operating-table 410 asks main token of following me. Following negotiation, use procedure 320 by the shared interface of server 460 and token service 137, operating-table 410 can be published main follows me token and computer assisted surgery equipment 420 can be published subordinate and follow me token. Then operating-table 410 can use the path of blackboard service 132 offer use procedure 335 planning, and it can service 133 by publisher and be forwarded to computer assisted surgery equipment 420. Based on the path planning of operating-table 410, computer assisted surgery platform 410 can plan and perform compatible path, and it is permitted articulated jib 425 and keeps docking with patient and not interfering with the location of operating theater instruments. In some instances, even when operating-table 410 is when motion, this can also permit the continuation of operation or program extraly. When computer assisted surgery equipment 420 can not keep with subordinate follow me token compatibility time, it may use that circular service 136 circular operating-tables 410 are so that operating-table 410 can stop its motion before occurring in any collision or to the damage of patient. In some instances, imaging device 440 can be published subordinate collision extraly and avoid token so that imaging device 440 can be planned and perform to avoid and the path of operating-table 410 and patient and computer assisted surgery equipment 420 and articulated jib 425 collision. In some instances, imaging device 440 can be published subordinate extraly and follow me token so that imaging device 440 can move to keep the targeted anatomic of patient in the visual field of imaging subsystems 445 together with operating-table 410 and computer assisted surgery equipment 420.
The use of token is avoided in example 2 collision: in operation or other program process, and the image of the renewal that use imaging device 440 obtains patient is usually desirable. When imaging device 440 is chromatography imaging device, imaging device 440 is generally about patient's mobile imaging subsystem 445 in the paths. When not requiring computer assisted surgery equipment 420 to separate with patient, collision avoids the token can for allowing imaging device 440 to obtain the image of renewal of patient in the one of two kinds of methods. In one example, imaging device 440 can be published main collision and avoid token, computer assisted surgery equipment 420 can be published subordinate collision avoiding token, and operating-table can not be published mobile token. Then imaging device 440 can share path planning, and computer assisted surgery equipment 420 can use the corresponding collision of described path planning planning to avoid path, and it allows computer assisted surgery equipment 420 to keep docking with patient. In some instances, the path planning shared by imaging device 440 can include the location and/or the path data that are associated with the one or more energy beams passing through imaging device 440 manipulation and/or one or more energy field. In another example, the imaging device 440 of computer assisted surgery equipment 420 and reception subordinate token that token can pass through the main token of reception reverses. In this case, imaging device 440 can around the path planning of computer assisted surgery equipment 420 and its articulated jib 425 and/or sharing position planning of imaging track. When computer assisted surgery equipment 420 and/or imaging device 440 cannot avoid token in accordance with its held collision, it may use that circular service 136 another equipment of circular.
Avoiding of example 3 surgical staff and miscellaneous equipment: the object that motion tracking system 450 may be used for including not sharing interface is to participate in coordination exercise. Surgical staff and the apparatus that they use can indicate registration point, and it can pass through motion tracking system 450 and follow the tracks of. Based on the registration point observed, motion tracking system 450 can create one or more virtual movable equipment being associated with surgical staff and apparatus. When virtual movable equipment be assigned with passive collision avoid token and behave like exclusion area time, other movable equipment, such as computer assisted surgery equipment 420 can pass through to collide the movable equipment avoiding the use of token to avoid those virtual. In some instances, the big I of each virtual movable equipment obtains from data base based on the type of the object being associated with each monomark and/or label. In some instances, when motion tracking system 450 is RFID type, the size of each object can be stored in the RFID tag being associated and can pass through motion tracking system 450 and retrieve. In certain embodiments, computer assisted surgery equipment 420 can also be held subordinate and follows me token to follow the operating-table 410 as described in example 1 above.
Heterogeneous device (heterogeneous device of such as Fig. 4), and/or some examples of coordination exercise system 400 can include non-transitory tangible machine computer-readable recording medium, it includes executable code, and when executable code is run by one or more processors, it can cause one or more processor to perform the process of method 300. The machine readable media that can include some common forms of the process of method 300 can be such as, floppy disk, flexible disk (-sc), hard disk, tape, other magnetic medium any, CD-ROM, other optical medium any, punch card, paper tape, is suitable to other medium any of being read from any other physical medium of pass pattern, RAM, PROM, EPROM, FLASH-EPROM, other memory chip any or internal memory casket and/or processor or computer.
Although having shown that and describe illustrative embodiment, but revise widely in middle expection disclosed above, variations and alternatives, and in some cases, some features of embodiment can be used when not using corresponding further feature. Those of ordinary skill in the art will be recognized by many changes, substitutions and modifications. Therefore, the scope of the present invention should be limited solely by appended claim, and it is to be understood that claim is by broadly and understand in the way of consistent with the scope of embodiment disclosed herein.

Claims (40)

1. an armarium, comprising:
One or more displaceable elements; With
One or more processors, any one in wherein said one or more processors uses shares interface accessing service;
Wherein said armarium is configured to:
By the described shared interface requests mobile token from token service;
Described mobile token is received from described token service;
The exercise data of configuration data, kinematic data or planning is exchanged by described shared interface;
Based on described mobile token and described configuration data, described kinematic data or described planning exercise data plan described displaceable element the first displaceable element first motion; And
Perform described first motion.
2. described armarium according to claim 1, wherein only performs described first motion when described armarium holds described mobile token.
3. armarium according to claim 1, wherein said armarium is configured to send alarm further when described armarium can not perform described first motion consistent with described mobile token.
4. armarium according to claim 1, wherein said armarium is configured to for the circular generated by another armarium further to monitor described shared interface.
5. armarium according to claim 1, wherein said armarium is configured to the registration of described shared interface further.
6. armarium according to claim 1, wherein said armarium is configured to another armarium finding to use described shared interface further.
7. armarium according to claim 1, wherein said armarium is configured to the list asking to hold other armarium of certain types of mobile token further.
8. armarium according to claim 1, wherein said armarium is configured to couple to share described in trustship the server of a part for interface and described token service further.
9. armarium according to claim 1, wherein said armarium is the equipment selected from the group being made up of computer assisted surgery equipment, operating-table, imaging device, focus invasive devices and motion tracking system.
10. armarium according to claim 1, wherein said mobile token avoids the collision of token, subordinate avoid token and passively collide selection the group avoiding token to form from by follow me token, the main collision of special motion token, main token of following me, subordinate.
11. armarium according to claim 10, wherein:
Described mobile token is that described master follows me token; And
Described armarium is configured to the motion using the blackboard service of described shared interface to share the planning for described first displaceable element further.
12. armarium according to claim 10, wherein:
Described mobile token is that described subordinate is followed me token; And
Described armarium is configured to further:
The second motion receiving the planning for another Mobile medical equipment is serviced from the publisher of described shared interface; And
Planning is for the second motion compatibility of described first motion of described first displaceable element, described first motion and described planning.
13. armarium according to claim 10, wherein:
Described mobile token is that token is avoided in described main collision; And
Described armarium is configured to the motion using the blackboard service of described shared interface to share the planning for described first displaceable element further.
14. armarium according to claim 10, wherein:
Described mobile token is that token is avoided in the collision of described subordinate; And
Described armarium is configured to further:
The second motion receiving the planning for another armarium is serviced from the publisher of described shared interface; And
Described first motion with described first displaceable element of another armarium described collision is avoided in planning.
15. armarium according to claim 10, wherein:
Described mobile token is that token is avoided in described passive collision; And
Described armarium be configured to further periodically to share be currently configured with it, data that kinesiology, statics or dynamical phase associate.
16. armarium according to claim 9, wherein:
Described armarium is described motion tracking system; And
Described motion tracking system is configured to detect based on registration point and report the position of other object.
17. armarium according to claim 9, wherein:
Described armarium is described motion tracking system; And
Described motion tracking system is configured to:
Create the virtual unit of tracked each object; And
The kinematic data of each virtual unit it is used for by the exchange of described shared interface.
18. armarium according to claim 17, wherein each virtual unit uses corresponding model to limit.
19. armarium according to claim 17, wherein said motion tracking system is configured to use the one or more mechanism selected from the group being made up of optical system, electromagnetic system, RFID system, ultrasonic system and hinged mechanical system to follow the tracks of each object further.
20. armarium according to claim 1, the exercise data of wherein said configuration data, described kinematic data or described planning includes not entering data for another equipment.
21. armarium according to claim 1, wherein said first displaceable element includes articulated jib.
22. armarium according to claim 1, wherein said first displaceable element includes one or more energy beam or one or more energy field.
23. armarium according to claim 1, wherein said armarium is configured to further:
Distribute another by described shared interface requests and move token to another armarium; And
Receive described another and move the confirmation that token is assigned with.
24. armarium according to claim 1, wherein said armarium is configured so as to further when another loose impediment enters or leave the volume of restriction and receives circular.
25. armarium according to claim 1, wherein said armarium is configured to send alarm based on the exercise data of described mobile token and described configuration data, described kinematic data or described planning further.
26. armarium according to claim 1, wherein said armarium is configured to further:
By described shared interface exchange force data; And
It is based further on described first motion of described force data planning;
Wherein said force data includes the one or more data elements being associated with one or more either statically or dynamically characteristics, the one or more either statically or dynamically characteristic select from the group being made up of power, moment and pressure.
27. a method for coordination exercise, described method includes:
Access and share interface;
By the described shared interface requests mobile token from token service;
Described mobile token is received from described token service;
The exercise data of configuration data, kinematic data or planning is exchanged by described shared interface;
Move for the first of displaceable element based on described mobile token and described configuration data, described kinematic data or described motion planning data schema; And
Perform described first motion.
28. according to the method described in right 27, wherein only perform described first motion when described armarium holds described mobile token and occur.
29. method according to claim 27, farther include to send alarm when described first motion consistent with described mobile token can not be performed.
30. method according to claim 27, wherein:
Described mobile token is main token of following me; And
The exercise data that described shared interface exchanges described configuration data, described kinematic data or described planning is used to include the motion using the blackboard service of described shared interface to share the planning for described displaceable element.
31. method according to claim 27, wherein:
Described mobile token is that subordinate is followed me token;
The exercise data that described shared interface exchanges described configuration data, described kinematic data or described planning is used to include servicing the second motion receiving the planning for another armarium from the publisher of described shared interface; And
Planning includes, for described first motion of described displaceable element, described first motion for described displaceable element that planning is compatible with the second of described planning the motion.
32. method according to claim 27, wherein:
Described mobile token is that token is avoided in main collision; And
The exercise data that described shared interface exchanges described configuration data, described kinematic data or described planning is used to include the motion using the blackboard service of described shared interface to share the planning for described displaceable element.
33. method according to claim 27, wherein:
Described mobile token is that token is avoided in subordinate collision;
The exercise data that described shared interface exchanges described configuration data, described kinematic data or described planning is used to include servicing the second motion receiving the planning for another armarium from the publisher of described shared interface; And
Planning includes planning described first motion avoiding colliding for described displaceable element with another armarium described for described first motion of described displaceable element.
34. a coordination exercise system, described system includes:
Server, it includes the shared interface for accessing one or more services including token service;
First heterogeneous device, it is coupled to described shared interface and includes the first displaceable element; With
Second heterogeneous device, it is coupled to described shared interface and is associated with the second displaceable element;
Wherein said first heterogeneous device is configured to:
Token is moved from the first of described token service by described shared interface requests;
Receive described first from described token service and move token;
Service from the publisher of described shared interface and receive the exercise data for the configuration data of described second displaceable element, kinematic data or planning;
Based on the described first exercise data planning motion for described first displaceable element moving token and described configuration data, described position data or described planning; And
Perform described first motion;
Wherein said second heterogeneous device is configured to:
Token is moved from the second of described token service by described shared interface requests;
Receive described second from described token service and move token;
Use blackboard service that the exercise data being used for the described configuration data of described second displaceable element, described kinematic data or described planning is sent to described shared interface; And
Discharge receive second and move token.
35. according to the system described in right 34, wherein:
Described first to move token be that subordinate is followed me token;
Described second to move token be main token of following me; And
The motion of described planning compatibly moves described first displaceable element with the exercise data of the described configuration data of described second displaceable element, described kinematic data or described planning.
36. system according to claim 34, wherein:
Described first move token be subordinate collision avoid token;
Described second to move token be that token is avoided in main collision; And
The motion of described planning moves described first displaceable element to avoid and described second displaceable element collision.
37. system according to claim 34, wherein said second heterogeneous device keeps described second motion token until user or another heterogeneous device require that it discharges described token.
38. system according to claim 34, wherein:
Described second heterogeneous device is motion tracking system; And
Described motion tracking system is configured to:
Follow the tracks of one or more object;
Create the virtual unit for tracked each object; And
The kinematic data of each virtual unit it is used for by the exchange of described shared interface.
39. system according to claim 34, wherein said server and described first heterogeneous device are identical.
40. system according to claim 34, wherein said server and described second heterogeneous device are identical.
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